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save loops
Diff: classLaserSensingTrajectory.cpp
- Revision:
- 0:df6fdd9b99f0
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/classLaserSensingTrajectory.cpp Tue Dec 02 04:39:15 2014 +0000 @@ -0,0 +1,100 @@ +#include "classLaserSensingTrajectory.h" +using namespace std; + +LaserSensingTrajectory::LaserSensingTrajectory():lightTouched(false), lightState(ALL_DARK), +min_contrast_ratio(MIN_CONTRAST_RATIO), threshold_factor(THRESHOLD_FACTOR), +min_acceptable_intensity(MIN_ACCEPTABLE_INTENSITY), fixedThreshold(FIXED_THRESHOLD), delayMirrorSamples(0) +{ + lsdTrajectory.clear(); // no need in principle! the constructor of the vector will give an empty vector! + // attention: properly set the state of the threshold switch in the IO.init (which by the way, in THIS hardware + // implementation indicates the state for ALL the objects..) + modeThreshold=AUTO; + // IO.setSwitchOneState(true); +} + +LaserSensingTrajectory::~LaserSensingTrajectory() { + // lsdTrajectory.clear(); // there is no need to clear the vector, the destructor of this vector is called by default (and it's NOT a vector of pointers) +} + + +void LaserSensingTrajectory::setDelayMirrors(int delay) { + delayMirrorSamples=delay; +} + +void LaserSensingTrajectory::addDelayMirrors(int add_delay) { + delayMirrorSamples+=add_delay; +} + +bool LaserSensingTrajectory::processSensedData() { + // Compute max and min intensity on the loop + maxI=0; + minI=255; // ratio has been normalized between 0 and 255 + unsigned short auxSize=lsdTrajectory.size(); // could be an unsigned char in principle... no more than 255 points per object, but well, memory in future versions + // of the microprocessor can be larger. + + // Compute minimum and maximum intensities: + for (unsigned short i = 0; i < auxSize; i++) { + unsigned char mesI=lsdTrajectory[i].intensity; + if (maxI<mesI) maxI=mesI; + if (minI>mesI) minI=mesI; + } + + // Compute autoThreshold: + switch(modeThreshold) { + case AUTO: + if (minI==0) minI=1; + if (maxI<min_acceptable_intensity) autoThreshold=255;// (we consider that the saccade is FULL on something black - this is noise) + else if (1.0*maxI/minI > min_contrast_ratio ) { + autoThreshold = (unsigned char) (1.0 * (maxI-minI) * threshold_factor + minI); // threshold_factor = 2/3 or 1/2 is a good value. + } else {// ... otherwise, we consider that the saccade is FULL on something WHITE (convention...) + autoThreshold=0; + } + break; + case FIXED: + autoThreshold=fixedThreshold; + break; + } + + + // Segment the trajectory (only two levels for the time being, but we can have more - meaning different forces, real or even complex values to have different angle forces...): + // NOTE: if using 1 and -1 instead of 1 and 0, we can avoid having to add a "blob internal pressure"! -1 means a force towards the interior, and +1 outwards... + // This means that the loop will naturally become inside-out depending on the color of the main surface! (but will mantain its normal size). Much better and elegant solution than the + // idea of the blob "constant" internal pressure... + bool isLightZone=false, isDarkZone=false; + for (unsigned short i = 0; i < auxSize; i++) { + unsigned short delayedpoint=(i+auxSize+delayMirrorSamples)%auxSize; // this way we can have negative delayMirrorSamples if required (would be absurd though) + if (lsdTrajectory[delayedpoint].intensity>=autoThreshold) { // this means a WHITE zone: + lsdTrajectory[i].lightZone= -1; + isLightZone=true; + } else { // this means DARK ZONE + lsdTrajectory[i].lightZone= 2; + isDarkZone=true; + } + } + + // In the case of AUTO mode, we assume that something is touching the object when the trajectory has at least one light zone and one dark zone; + // in the case of FIXED mode, we assume something is touching the object when there is at least one light zone (this is a convention, because it depends + // on the background - but we can argue that "no background" corresponds to no reflection (then dark), and, say, a ping pong ball or finger is front + // will be "light". + // Mmm... not convinced by the arguments above. Let's rather do this: lightTouched will mean ALWAYS that the saccade is touched by something, meaning it's intensity + // goes from dark to light, i.e. at least one light AND one dark zone. In fact we should have THREE states: touched, all light, all dark. + if (modeThreshold==FIXED) { + lightTouched=isLightZone; + lightZone=isLightZone; + darkZone=isDarkZone; + if (lightTouched) lightState=TOUCHED; + else if (isLightZone) lightState=ALL_LIGHT; + else lightState=ALL_DARK; + } + else { + lightTouched=(isLightZone&&isDarkZone); // assuming only two modes for modeThreshold + lightZone=isLightZone; + darkZone=isDarkZone; + if (lightTouched) lightState=TOUCHED; + else if (isLightZone) lightState=ALL_LIGHT; + else lightState=ALL_DARK; + } + // Return lightTouched for commodity: + //return(lightTouched); + return(lightState); +}